Guiqiu Liao,1,2 Zhongkai Zhang,1,2 Oscar Caravaca Mora,3 Philippe Zanne,4 Benoit Rosa,1 Diego Dall’Alba,5 Paolo Fiorini,5 Michel de Mathelin,1 Florent P. Nageotte,1 Michalina J. Gorahttps://orcid.org/0000-0002-1200-35111
1ICube (France) 2Univ. de Strasbourg (France) 3Harvard Medical School (United States) 4IHU Strasbourg (France) 5Univ. degli Studi di Verona (Italy)
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Optical Coherence Tomography (OCT) shows the ability of real-time diagnosis for the external environment or internal small lumen. OCT has not been applied to larger internal lumen like the colon or stomach due to the difficulty of scanning. In this work, we use a robotized helical scanning probe to explore large lumen. Based on the segmentation of the stabilized OCT image, high accurate distance and quantitative contact feedback are obtained for the robotic scanning. The proposed method for distance/contact feedback shows robustness on both phantom and real deformable colon tissue. The robotic scanning is conducted on the soft phantom.
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Guiqiu Liao, Zhongkai Zhang, Oscar Caravaca Mora, Philippe Zanne, Benoit Rosa, Diego Dall’Alba, Paolo Fiorini, Michel de Mathelin, Florent P. Nageotte, Michalina J. Gora, "Colon lumen exploration with robotized optical coherence tomography catheter," Proc. SPIE PC11937, Endoscopic Microscopy XVII, PC119370L (7 March 2022); https://doi.org/10.1117/12.2609991